EP1440211A1 - Engin de travail et procede pour faire fonctionner un engin de travail - Google Patents

Engin de travail et procede pour faire fonctionner un engin de travail

Info

Publication number
EP1440211A1
EP1440211A1 EP02802301A EP02802301A EP1440211A1 EP 1440211 A1 EP1440211 A1 EP 1440211A1 EP 02802301 A EP02802301 A EP 02802301A EP 02802301 A EP02802301 A EP 02802301A EP 1440211 A1 EP1440211 A1 EP 1440211A1
Authority
EP
European Patent Office
Prior art keywords
undercarriage
electronics
working machine
machine according
brake
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP02802301A
Other languages
German (de)
English (en)
Other versions
EP1440211B1 (fr
Inventor
Jürgen LEGNER
Wolfgang Rebholz
Hermann Beck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP1440211A1 publication Critical patent/EP1440211A1/fr
Application granted granted Critical
Publication of EP1440211B1 publication Critical patent/EP1440211B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
    • E02F9/0866—Engine compartment, e.g. heat exchangers, exhaust filters, cooling devices, silencers, mufflers, position of hydraulic pumps in the engine compartment
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the present invention relates to a work machine with a hydrostatic drive, in particular a mobile excavator according to the preamble of claim 1 and a method for operating the work machine.
  • Such machines are used in many ways, e.g. as a mobile excavator, crane, etc. According to the state of the art, they have a hydrostatic travel drive and have an undercarriage and an uppercarriage rotatably arranged on the undercarriage; A drive motor for driving the wheels is provided in the undercarriage and is supplied with pressure medium by a pump arranged in the superstructure, it being possible for further high-pressure consumers to be provided.
  • DE 19956402 AI discloses a mobile excavator in which the control valve required to control the direction of movement and speed of the vehicle is arranged in the region of the uriter wagon. This reduces the number of hydraulic connections for the drive to two lines, namely a delivery line and a tank line. Nevertheless, the number of additional lines to be routed through the rotating union remains high.
  • a high-pressure, continuously variable axial piston hydraulic motor with a built-in brake valve and secondary pressure relief valves is normally used for the travel drive as standard.
  • the engine is on a small swallowing volume (qmin) until a high pressure is reached.
  • the motor is adjusted from the small (qMin) to the large (qMax) displacement, which increases the torque.
  • the integrated, high-pressure-dependent controller is only controlled by the high-pressure inlet during train operation.
  • the brake in turn, the motor is on a small swallowing volume (qmin).
  • Overrun may be the case if the gradient is steeper than the braking capacity of the hydraulic motor, which creates the risk of overturning for the entire drive train.
  • the present invention is based on the object of specifying a work machine, in particular a mobile excavator, which avoids the disadvantages of the prior art.
  • a work machine in particular a mobile excavator
  • the number of lines between the uppercarriage and the undercarriage should be reduced and safety and driving comfort should be improved.
  • the functionality of the working machine should be expandable without a great deal of construction work, while at the same time reducing the production costs.
  • the undercarriage electronics used according to the invention are connected to the on-board electronics in the superstructure by means of a rotary feedthrough via a communication link (for example CAN or DC bus).
  • a communication link for example CAN or DC bus.
  • the supply voltage for the undercarriage electronics also comes from the rotating union.
  • the proposed use of electronic components in the undercarriage means that a large number of hydraulic connections between the superstructure and undercarriage can be dispensed with.
  • the components in the undercarriage are directly controlled and monitored electrically and / or hydraulically. This also enables diagnosis of the components in the undercarriage, because Any actuators and sensors can be diagnosed by the undercarriage electronics.
  • Figure 1 A block diagram of a mobile excavator according to the prior art
  • Figure 2 A block diagram of a mobile excavator according to a first embodiment of the invention.
  • Figure 3 A block diagram of a mobile excavator according to another embodiment of the invention.
  • the main working pump 1 supplies all high-pressure consumers (cylinders, hydraulic motors) in an open hydraulic raulikniklauf. All high-pressure consumers in the undercarriage, such as the hydraulic motor, dozer blade, support, must be supplied by the rotating union. In some cases today the swivel function is operated with another pump in a closed circuit.
  • the pilot pump 2 pumps the oil for the entire hydraulic pilot control.
  • the pilot control valves have a direct influence on the various main control valves both in the uppercarriage (boom, stick, bucket, slewing gear, ...) and in the undercarriage (traction motor, dozer blade, support, etc.).
  • the hydraulic control functions in the undercarriage for gear shifting, hydraulic motor changeover (creeper gear), swing axle lock etc. are routed individually through the rotating union.
  • bladder accumulators are filled with an accumulator charging unit, which allow a prescribed emergency operation in the event of a failure of the pressure supply.
  • the brake compact block 5 is arranged in the superstructure in such a way that the two brake circuits of this block are controlled hydraulically by the rotary leadthrough.
  • the hydraulic steering unit 6 is arranged directly on the steering wheel 7 in the cabin and is supported by the steering pump 4
  • Oil is supplied, with two lines leading from the hydraulic steering unit 6 via the rotary union to the double-acting steering cylinder.
  • FIG. 2 shows a block diagram of a mobile excavator according to the invention.
  • control signals for the gear shift, accelerator pedal, hydraulic motor and pendulum axle lock are sent to the superstructure electronics by electrical switch signals (analog and digital); from there the control signals reach the undercarriage electronics 10 via a communication link 9.
  • the solenoid valves can thus advantageously be accommodated in the undercarriage; they are controlled by means of the undercarriage electronics 10.
  • transmission control block 11 is intended to arrange the transmission control block 11 directly on the transmission 8 or in another suitable place in the undercarriage. It is particularly advantageous to implement an additional “front axle shutdown” function via a solenoid valve provided in the transmission control block, which can be electrically controlled by the undercarriage electronics.
  • the input and / or output speed on the transmission is measured by a speed sensor 12, this signal being processed by the undercarriage electronics 10, so that the downshift lock is effected electronically by means of this speed information.
  • an automatic gear shift is provided.
  • the signals from the speed sensor and the absorption volume are Position, ie the valve flow to the hydraulic motor proportional valve, evaluated by the undercarriage electronics 10.
  • the number of connections between the uppercarriage and the undercarriage is significantly reduced compared to the prior art, with additional functions in the undercarriage, such as. B. the described front axle shutdown are possible without additional connections between the superstructure and undercarriage.
  • the undercarriage electronics By using the undercarriage electronics according to the invention, the functions in the undercarriage are logically linked. This results in a significant reduction in effort and an increase in safety during operation. For example, on a mobile excavator with a long boom and four-point support, the supports must be extended and locked before the boom can be used.
  • an electrically proportional adjustable hydraulic motor with superimposed pressure control instead of the high-pressure-dependent adjustable hydraulic motor used today, the proportional valve of which can be controlled by the undercarriage electronics 10.
  • the engine has a brake valve, with secondary pressure relief valves being provided between the engine and the brake valve.
  • this engine is at maximum swallowing volume and consequently torque and thus allows the machine to accelerate better from a standing start.
  • the adjustment of the engine to a smaller swallowing volume can therefore be controlled depending on the accelerator pedal position and the drive speed of the transmission.
  • an analog sensor is provided on the accelerator pedal.
  • the accelerator pedal tion can also be detected by means of a pressure sensor between "accelerator pedal" and "slide".
  • This concept also has the advantage that the motor can be specifically adjusted to a larger swallowing volume during braking, which prevents overturning when driving downhill. If the accelerator pedal is released when driving downhill, the braking torque rises steadily over a specified time due to the adjustment of the hydraulic motor to a larger swallowing volume and the machine comes to a standstill. Overturning can thus almost be ruled out.
  • the driver is forced to press the accelerator pedal to be able to drive.
  • the oil conveyed from the hydraulic motor to the tank is cooled so that overheating of the units in the undercarriage is largely avoided.
  • a particularly advantageous variant of the invention which is the subject of FIG. 3, also provides for the hydraulic connections between the superstructure and undercarriage to be reduced to one connection.
  • the number of line connections between the uppercarriage and the undercarriage is therefore limited to three, namely a hydraulic, an electrical and a communication connection.
  • the entire undercarriage is designed as a closed system.
  • the number of oil pumps in the superstructure is accordingly reduced from four to one main working pump __ '.
  • All control commands go in the form of electrical digital or analog signals to the on-board electronics in the uppercarriage and from there via the communication link to the undercarriage electronics 10, which forwards the control signals to the actuators.
  • important status and diagnostic data from the actuators and sensors from the undercarriage diagnosed in the undercarriage electronics 10 and reported via the communication link 9 to the on-board electronics in the superstructure ("fault management"), emergency driving or emergency operating programs being able to be executed after the evaluation.
  • the pressure of the consumer with the highest load is reported from the undercarriage to the superstructure.
  • the oil flow in the superstructure to all working consumers is reduced uniformly, the oil flow to the consumers in the undercarriage being determined by the undercarriage electronics 10. This is particularly important in the event that several consumers are required at the same time during work (e.g. hydraulic motor, dozer blade, etc.).
  • Another variant for the detection of the consumer with the highest load provides for the use of connected check valves which lead the load pressure of the consumer with the highest load to the superstructure via a hydraulic signaling line.
  • an additional hydraulic connection between the uppercarriage and undercarriage is required.
  • the hydraulic power for the brakes, steering, hydraulic motor and dozer blade is diverted from the central pressure oil supply of the undercarriage.
  • the control oil is preferably branched off by a control oil unit from the high-pressure supply of the undercarriage by means of a pressure reduction. The control of all consumers in the undercarriage is thus carried out by the undercarriage electronics 10.
  • a proportional electro-hydraulic steer-by-wire unit 13 and a brake-by-wire unit 14 are accommodated in the undercarriage, the corresponding electronic control being integrated in the undercarriage electronics 10 or in separate ones Components is housed.
  • the steer-by-wire component works as follows: The steering wheel movements in the steer-by-wire unit in the uppercarriage are converted into electrical signals and routed to the uppercarriage electronics. From there, this information reaches the undercarriage electronics 10 via the communication link 9, which in turn then controls the hydraulic steer-by-wire unit 13 electrically. In the steer-by-wire unit, the electrical signals are converted into hydraulic signals and passed on to the steering cylinder. Hydraulic accumulators for emergency operation are provided in the steer-by-wire unit 13 in the undercarriage. The steer-by-wire unit 13 can be mounted directly on the axle or in a suitable place in the undercarriage.
  • An advantageous further development of the invention provides that in the steer-by-wire unit in the uppercarriage an electric motor is used to simulate steering forces on the steering wheel in order to improve the driving experience.
  • Such a steering device would make it possible to fold it out of the driver's field of vision when driving on the construction site and to operate the steering using additional joysticks. This would significantly improve visibility when working and contribute to increased safety.
  • it is proposed to implement a reset behavior when the steering wheel is released when cornering in the steering device.
  • Another advantage of the steer-by-wire system is that disruptive hydraulic noises are eliminated from the driver's cab.
  • sensors are provided that detect the brake pedal movements and convert them into electrical signals that are forwarded to the superstructure electronics. This information then passes via the communication link to the undercarriage electronics, which electrically controls the hydraulic brake-by-wire unit 14, the electrical signals being converted into hydraulic signals in the brake-by-wire unit and passed on to brake cylinders.
  • hydraulic accumulators are also provided for emergency operation.
  • wheel speed sensors are provided in order to be able to implement functions such as ABS, ASR, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Motor Power Transmission Devices (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Fluid Gearings (AREA)
  • Control Of Transmission Device (AREA)

Abstract

L'invention concerne un engin de travail équipé d'un entraînement hydrostatique, d'un châssis dans lequel est logé un moteur pour entraîner les roues et d'un bâti supérieur monté pivotant sur le châssis et comprenant une pompe pour alimenter l'entraînement en pression. Entre le châssis et le bâti supérieur se trouve un passage tournant et dans le châssis sont logés un ou plusieurs composants électroniques constituant un système électronique de châssis et servant à la commande et/ou à la régulation des éléments du châssis.
EP02802301A 2001-10-30 2002-10-24 Engin de travail et procede pour faire fonctionner un engin de travail Expired - Lifetime EP1440211B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10153458 2001-10-30
DE10153458A DE10153458A1 (de) 2001-10-30 2001-10-30 Arbeitsmaschine und Verfahren zum Betreiben einer Arbeitsmaschine
PCT/EP2002/011872 WO2003038200A1 (fr) 2001-10-30 2002-10-24 Engin de travail et procede pour faire fonctionner un engin de travail

Publications (2)

Publication Number Publication Date
EP1440211A1 true EP1440211A1 (fr) 2004-07-28
EP1440211B1 EP1440211B1 (fr) 2005-04-27

Family

ID=7704168

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02802301A Expired - Lifetime EP1440211B1 (fr) 2001-10-30 2002-10-24 Engin de travail et procede pour faire fonctionner un engin de travail

Country Status (7)

Country Link
US (1) US20040249537A1 (fr)
EP (1) EP1440211B1 (fr)
JP (1) JP2005507471A (fr)
KR (1) KR20050039716A (fr)
CN (1) CN1276156C (fr)
DE (2) DE10153458A1 (fr)
WO (1) WO2003038200A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10343844A1 (de) * 2003-09-23 2005-04-28 Zahnradfabrik Friedrichshafen Berührungslose Datenübertragung
KR100655330B1 (ko) * 2005-12-23 2006-12-08 두산인프라코어 주식회사 전동 지게차의 경사 작업시 자동 정지장치
DE202008008044U1 (de) 2008-06-16 2009-11-05 Liebherr-Hydraulikbagger Gmbh Verfahrbares Arbeitsgerät
NL1040157C2 (nl) * 2013-04-12 2014-10-14 Hudson Bay Holding B V Mobiele inrichting met besturingssysteem.
KR101747578B1 (ko) * 2013-08-30 2017-06-14 히다찌 겐끼 가부시키가이샤 작업 기계
CN104691529A (zh) * 2014-01-23 2015-06-10 青岛科瑞特激光设备有限公司 自走式谷物联合收割机液压驱动桥行车制动电液控制装置
SE543708C2 (en) * 2019-08-23 2021-06-22 Epiroc Rock Drills Ab Method and system for controlling a machine behaviour of a mining and/or construction machine

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US4811561A (en) * 1986-04-08 1989-03-14 Vickers, Incorporated Power transmission
DE3701554A1 (de) * 1987-01-21 1988-08-04 Duerr Gmbh & Co Maschinenanlage mit mehreren aktoren
US5018384A (en) * 1989-07-21 1991-05-28 Nippon Seiko Kabushiki Kaisha Rotational speed detector
DE19538416A1 (de) * 1995-09-11 1997-03-13 Orenstein & Koppel Ag Verfahren und Einrichtung zur lastabhängigen automatischen Umschaltung von Fahrmotoren
US5884206A (en) * 1996-11-08 1999-03-16 Samsung Heavy Industries Co., Ltd. Distributed control system for heavy construction machine
US6336067B1 (en) * 1998-08-12 2002-01-01 Hitachi Construction Machinery Co., Ltd. Electronic control system and control device for construction machine
DE19850902C2 (de) * 1998-11-05 2001-07-12 Manfred Scherger Baumaschinen Schnellmontagebaugruppe für einen Turmdrehkran
US6278204B1 (en) * 1999-06-18 2001-08-21 Eugene Roland Frenette Method of converting internal combustion engine into electrically driven engine
DE19956402A1 (de) * 1999-11-24 2001-05-31 Linde Ag Fahrzeug, insbesondere Mobilbagger
EP1257903A4 (fr) * 2000-02-01 2004-10-13 Delphi Tech Inc Architecture de commande par transmission electrique a modules multiples
DE10037676C1 (de) * 2000-07-26 2002-05-23 Jungheinrich Ag Vorrichtung zur Regelung eines Antriebssystems für ein Flurförderzeug
EP1313636A1 (fr) * 2000-08-22 2003-05-28 Continental Teves AG & Co. oHG Procede d'exploitation d'un systeme de regulation pour automobile et dispositif permettant de mettre en oeuvre ce procede
US6695748B2 (en) * 2000-09-08 2004-02-24 Borgwarner Inc. Transmission control apparatus
DE10128209A1 (de) * 2001-06-11 2003-01-09 Brueninghaus Hydromatik Gmbh Hydrostatische Kolbenmaschine und Übertragungssystem

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Title
See references of WO03038200A1 *

Also Published As

Publication number Publication date
KR20050039716A (ko) 2005-04-29
JP2005507471A (ja) 2005-03-17
US20040249537A1 (en) 2004-12-09
WO2003038200A1 (fr) 2003-05-08
DE50202947D1 (de) 2005-06-02
CN1276156C (zh) 2006-09-20
CN1556888A (zh) 2004-12-22
DE10153458A1 (de) 2003-05-15
EP1440211B1 (fr) 2005-04-27

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